Andrew SaLoutos / mbed-dev-STM-lean

From Ben Katz mbed-dev library. Removed unnecessary target files to reduce the overall size by a factor of 10 to make it easier to import into the online IDE.

Dependents:   motor_driver motor_driver_screaming_fix

targets/TARGET_STM/hal_tick_16b.c@0:083111ae2a11, 2020-11-26 (annotated)

Committer:
saloutos
Date:
Thu Nov 26 04:08:56 2020 +0000
Revision:
0:083111ae2a11
first commit of leaned mbed dev lib

Who changed what in which revision?

UserRevisionLine numberNew contents of line
saloutos 0:083111ae2a11 1 /* mbed Microcontroller Library
saloutos 0:083111ae2a11 2 * Copyright (c) 2006-2016 ARM Limited
saloutos 0:083111ae2a11 3 *
saloutos 0:083111ae2a11 4 * Licensed under the Apache License, Version 2.0 (the "License");
saloutos 0:083111ae2a11 5 * you may not use this file except in compliance with the License.
saloutos 0:083111ae2a11 6 * You may obtain a copy of the License at
saloutos 0:083111ae2a11 7 *
saloutos 0:083111ae2a11 8 * http://www.apache.org/licenses/LICENSE-2.0
saloutos 0:083111ae2a11 9 *
saloutos 0:083111ae2a11 10 * Unless required by applicable law or agreed to in writing, software
saloutos 0:083111ae2a11 11 * distributed under the License is distributed on an "AS IS" BASIS,
saloutos 0:083111ae2a11 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
saloutos 0:083111ae2a11 13 * See the License for the specific language governing permissions and
saloutos 0:083111ae2a11 14 * limitations under the License.
saloutos 0:083111ae2a11 15 */
saloutos 0:083111ae2a11 16 #include "hal_tick.h"
saloutos 0:083111ae2a11 17
saloutos 0:083111ae2a11 18 // A 16-bit timer is used
saloutos 0:083111ae2a11 19 #if TIM_MST_16BIT
saloutos 0:083111ae2a11 20
saloutos 0:083111ae2a11 21 #define DEBUG_TICK 0 // Set to 1 to toggle a pin (see below which pin) at each tick
saloutos 0:083111ae2a11 22
saloutos 0:083111ae2a11 23 extern TIM_HandleTypeDef TimMasterHandle;
saloutos 0:083111ae2a11 24
saloutos 0:083111ae2a11 25 extern volatile uint32_t SlaveCounter;
saloutos 0:083111ae2a11 26 extern volatile uint32_t oc_int_part;
saloutos 0:083111ae2a11 27
saloutos 0:083111ae2a11 28 volatile uint32_t PreviousVal = 0;
saloutos 0:083111ae2a11 29
saloutos 0:083111ae2a11 30 void us_ticker_irq_handler(void);
saloutos 0:083111ae2a11 31
saloutos 0:083111ae2a11 32 #if defined(TARGET_STM32F0)
saloutos 0:083111ae2a11 33 void timer_update_irq_handler(void) {
saloutos 0:083111ae2a11 34 #else
saloutos 0:083111ae2a11 35 void timer_irq_handler(void)
saloutos 0:083111ae2a11 36 {
saloutos 0:083111ae2a11 37 #endif
saloutos 0:083111ae2a11 38 TimMasterHandle.Instance = TIM_MST;
saloutos 0:083111ae2a11 39
saloutos 0:083111ae2a11 40 // Clear Update interrupt flag
saloutos 0:083111ae2a11 41 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_UPDATE) == SET) {
saloutos 0:083111ae2a11 42 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_UPDATE) == SET) {
saloutos 0:083111ae2a11 43 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_UPDATE);
saloutos 0:083111ae2a11 44 SlaveCounter++;
saloutos 0:083111ae2a11 45 }
saloutos 0:083111ae2a11 46 }
saloutos 0:083111ae2a11 47
saloutos 0:083111ae2a11 48 #if defined(TARGET_STM32F0)
saloutos 0:083111ae2a11 49 } // end timer_update_irq_handler function
saloutos 0:083111ae2a11 50 // Used for mbed timeout (channel 1) and HAL tick (channel 2)
saloutos 0:083111ae2a11 51 void timer_oc_irq_handler(void)
saloutos 0:083111ae2a11 52 {
saloutos 0:083111ae2a11 53 TimMasterHandle.Instance = TIM_MST;
saloutos 0:083111ae2a11 54 #endif
saloutos 0:083111ae2a11 55
saloutos 0:083111ae2a11 56 // Channel 1 for mbed timeout
saloutos 0:083111ae2a11 57 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC1) == SET) {
saloutos 0:083111ae2a11 58 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC1) == SET) {
saloutos 0:083111ae2a11 59 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC1);
saloutos 0:083111ae2a11 60
saloutos 0:083111ae2a11 61 if (oc_int_part > 0) {
saloutos 0:083111ae2a11 62 oc_int_part--;
saloutos 0:083111ae2a11 63 } else {
saloutos 0:083111ae2a11 64 us_ticker_irq_handler();
saloutos 0:083111ae2a11 65 }
saloutos 0:083111ae2a11 66 }
saloutos 0:083111ae2a11 67 }
saloutos 0:083111ae2a11 68
saloutos 0:083111ae2a11 69 // Channel 2 for HAL tick
saloutos 0:083111ae2a11 70 if (__HAL_TIM_GET_FLAG(&TimMasterHandle, TIM_FLAG_CC2) == SET) {
saloutos 0:083111ae2a11 71
saloutos 0:083111ae2a11 72 if (__HAL_TIM_GET_IT_SOURCE(&TimMasterHandle, TIM_IT_CC2) == SET) {
saloutos 0:083111ae2a11 73 __HAL_TIM_CLEAR_IT(&TimMasterHandle, TIM_IT_CC2);
saloutos 0:083111ae2a11 74 uint32_t val = __HAL_TIM_GET_COUNTER(&TimMasterHandle);
saloutos 0:083111ae2a11 75 if ((val - PreviousVal) >= HAL_TICK_DELAY) {
saloutos 0:083111ae2a11 76 // Increment HAL variable
saloutos 0:083111ae2a11 77 HAL_IncTick();
saloutos 0:083111ae2a11 78 // Prepare next interrupt
saloutos 0:083111ae2a11 79 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, val + HAL_TICK_DELAY);
saloutos 0:083111ae2a11 80 PreviousVal = val;
saloutos 0:083111ae2a11 81 #if DEBUG_TICK > 0
saloutos 0:083111ae2a11 82 HAL_GPIO_TogglePin(GPIOB, GPIO_PIN_6);
saloutos 0:083111ae2a11 83 #endif
saloutos 0:083111ae2a11 84 }
saloutos 0:083111ae2a11 85 }
saloutos 0:083111ae2a11 86 }
saloutos 0:083111ae2a11 87 }
saloutos 0:083111ae2a11 88
saloutos 0:083111ae2a11 89 // Reconfigure the HAL tick using a standard timer instead of systick.
saloutos 0:083111ae2a11 90 HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
saloutos 0:083111ae2a11 91 {
saloutos 0:083111ae2a11 92 // Enable timer clock
saloutos 0:083111ae2a11 93 TIM_MST_RCC;
saloutos 0:083111ae2a11 94
saloutos 0:083111ae2a11 95 // Reset timer
saloutos 0:083111ae2a11 96 TIM_MST_RESET_ON;
saloutos 0:083111ae2a11 97 TIM_MST_RESET_OFF;
saloutos 0:083111ae2a11 98
saloutos 0:083111ae2a11 99 // Update the SystemCoreClock variable
saloutos 0:083111ae2a11 100 SystemCoreClockUpdate();
saloutos 0:083111ae2a11 101
saloutos 0:083111ae2a11 102 // Configure time base
saloutos 0:083111ae2a11 103 TimMasterHandle.Instance = TIM_MST;
saloutos 0:083111ae2a11 104 TimMasterHandle.Init.Period = 0xFFFF;
saloutos 0:083111ae2a11 105 TimMasterHandle.Init.Prescaler = (uint32_t)(SystemCoreClock / 1000000) - 1; // 1 us tick
saloutos 0:083111ae2a11 106 TimMasterHandle.Init.ClockDivision = 0;
saloutos 0:083111ae2a11 107 TimMasterHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
saloutos 0:083111ae2a11 108 #if !defined(TARGET_STM32L0)
saloutos 0:083111ae2a11 109 TimMasterHandle.Init.RepetitionCounter = 0;
saloutos 0:083111ae2a11 110 #endif
saloutos 0:083111ae2a11 111 #ifdef TIM_AUTORELOAD_PRELOAD_DISABLE
saloutos 0:083111ae2a11 112 TimMasterHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
saloutos 0:083111ae2a11 113 #endif
saloutos 0:083111ae2a11 114 HAL_TIM_Base_Init(&TimMasterHandle);
saloutos 0:083111ae2a11 115
saloutos 0:083111ae2a11 116 //LL_TIM_EnableUpdateEvent(TimMasterHandle.Instance);
saloutos 0:083111ae2a11 117
saloutos 0:083111ae2a11 118 // Configure output compare channel 1 for mbed timeout (enabled later when used)
saloutos 0:083111ae2a11 119 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_1);
saloutos 0:083111ae2a11 120
saloutos 0:083111ae2a11 121 // Configure output compare channel 2 for HAL tick
saloutos 0:083111ae2a11 122 HAL_TIM_OC_Start(&TimMasterHandle, TIM_CHANNEL_2);
saloutos 0:083111ae2a11 123 PreviousVal = __HAL_TIM_GET_COUNTER(&TimMasterHandle);
saloutos 0:083111ae2a11 124 __HAL_TIM_SET_COMPARE(&TimMasterHandle, TIM_CHANNEL_2, PreviousVal + HAL_TICK_DELAY);
saloutos 0:083111ae2a11 125
saloutos 0:083111ae2a11 126
saloutos 0:083111ae2a11 127
saloutos 0:083111ae2a11 128 // Configure interrupts
saloutos 0:083111ae2a11 129 // Update interrupt used for 32-bit counter
saloutos 0:083111ae2a11 130 // Output compare channel 1 interrupt for mbed timeout
saloutos 0:083111ae2a11 131 // Output compare channel 2 interrupt for HAL tick
saloutos 0:083111ae2a11 132 #if defined(TARGET_STM32F0)
saloutos 0:083111ae2a11 133 NVIC_SetVector(TIM_MST_UP_IRQ, (uint32_t)timer_update_irq_handler);
saloutos 0:083111ae2a11 134 NVIC_EnableIRQ(TIM_MST_UP_IRQ);
saloutos 0:083111ae2a11 135 NVIC_SetPriority(TIM_MST_UP_IRQ, 0);
saloutos 0:083111ae2a11 136 NVIC_SetVector(TIM_MST_OC_IRQ, (uint32_t)timer_oc_irq_handler);
saloutos 0:083111ae2a11 137 NVIC_EnableIRQ(TIM_MST_OC_IRQ);
saloutos 0:083111ae2a11 138 NVIC_SetPriority(TIM_MST_OC_IRQ, 1);
saloutos 0:083111ae2a11 139 #else
saloutos 0:083111ae2a11 140 NVIC_SetVector(TIM_MST_IRQ, (uint32_t)timer_irq_handler);
saloutos 0:083111ae2a11 141 NVIC_EnableIRQ(TIM_MST_IRQ);
saloutos 0:083111ae2a11 142 #endif
saloutos 0:083111ae2a11 143
saloutos 0:083111ae2a11 144 // Enable interrupts
saloutos 0:083111ae2a11 145 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_UPDATE); // For 32-bit counter
saloutos 0:083111ae2a11 146 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2); // For HAL tick
saloutos 0:083111ae2a11 147
saloutos 0:083111ae2a11 148 // Enable timer
saloutos 0:083111ae2a11 149 HAL_TIM_Base_Start(&TimMasterHandle);
saloutos 0:083111ae2a11 150
saloutos 0:083111ae2a11 151 // Freeze timer on stop/breakpoint
saloutos 0:083111ae2a11 152 // Define the FREEZE_TIMER_ON_DEBUG macro in mbed_app.json for example
saloutos 0:083111ae2a11 153 #if !defined(NDEBUG) && defined(FREEZE_TIMER_ON_DEBUG) && defined(TIM_MST_DBGMCU_FREEZE)
saloutos 0:083111ae2a11 154 TIM_MST_DBGMCU_FREEZE;
saloutos 0:083111ae2a11 155 #endif
saloutos 0:083111ae2a11 156
saloutos 0:083111ae2a11 157 #if DEBUG_TICK > 0
saloutos 0:083111ae2a11 158 __HAL_RCC_GPIOB_CLK_ENABLE();
saloutos 0:083111ae2a11 159 GPIO_InitTypeDef GPIO_InitStruct;
saloutos 0:083111ae2a11 160 GPIO_InitStruct.Pin = GPIO_PIN_6;
saloutos 0:083111ae2a11 161 GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
saloutos 0:083111ae2a11 162 GPIO_InitStruct.Pull = GPIO_PULLUP;
saloutos 0:083111ae2a11 163 GPIO_InitStruct.Speed = GPIO_SPEED_FAST;
saloutos 0:083111ae2a11 164 HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
saloutos 0:083111ae2a11 165 #endif
saloutos 0:083111ae2a11 166
saloutos 0:083111ae2a11 167 return HAL_OK;
saloutos 0:083111ae2a11 168 }
saloutos 0:083111ae2a11 169
saloutos 0:083111ae2a11 170 /* NOTE: must be called with interrupts disabled! */
saloutos 0:083111ae2a11 171 void HAL_SuspendTick(void)
saloutos 0:083111ae2a11 172 {
saloutos 0:083111ae2a11 173 __HAL_TIM_DISABLE_IT(&TimMasterHandle, TIM_IT_CC2);
saloutos 0:083111ae2a11 174 }
saloutos 0:083111ae2a11 175
saloutos 0:083111ae2a11 176 /* NOTE: must be called with interrupts disabled! */
saloutos 0:083111ae2a11 177 void HAL_ResumeTick(void)
saloutos 0:083111ae2a11 178 {
saloutos 0:083111ae2a11 179 __HAL_TIM_ENABLE_IT(&TimMasterHandle, TIM_IT_CC2);
saloutos 0:083111ae2a11 180 }
saloutos 0:083111ae2a11 181
saloutos 0:083111ae2a11 182 #endif // TIM_MST_16BIT